王剑, 秦海力, 绳涛, 马宏绪. 仿人机器人的不平整地面落脚控制方法[J]. 机器人, 2010, 32(2): 210-218.
引用本文: 王剑, 秦海力, 绳涛, 马宏绪. 仿人机器人的不平整地面落脚控制方法[J]. 机器人, 2010, 32(2): 210-218.
WANG Jian, QIN Haili, SHENG Tao, MA Hongxu. Humanoid Landing Control on Uneven Terrain[J]. ROBOT, 2010, 32(2): 210-218.
Citation: WANG Jian, QIN Haili, SHENG Tao, MA Hongxu. Humanoid Landing Control on Uneven Terrain[J]. ROBOT, 2010, 32(2): 210-218.

仿人机器人的不平整地面落脚控制方法

Humanoid Landing Control on Uneven Terrain

  • 摘要: 研究了仿人机器人在不平整地面上的落脚控制方法.首先,给出落脚控制问题的详细描述,对落脚过程进行分析,将几种典型的足—地接触模式转化成统一的等效单点接触模式.然后,引入人类落脚控制经验,设计基于主动柔顺控制原理的模糊控制器,实现基于等效单点的接触控制,并结合在线运动规划进行了落脚控制的应用方法研究.最后,通过"Virtual Blackmann"不平整地面行走仿真实验,验证了所提方法的有效性.

     

    Abstract: This paper presents a control method for humanoid biped landing on uneven terrain. Based on description of landing control problem, the landing course is analyzed. Then several representative foot-ground contact modes are transformed into an equivalent single point contact mode, an active compliant theorem based fuzzy controller is designed by incorporating human landing experience, and an equivalent single point based contact control is implemented. Combined with online motion planning, application of the proposed landing control method is addressed. Finally, simulation results of "Virtual Blackmann" walking on uneven terrain are shown to validate the effectiveness of the proposed method.

     

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